E.G. Carati, H. Pinheiro, J. R. Pinheiro, H. Hey, H. Grundling
Presents an adaptive robust DSP-based single phase AC power source, which is able to generate sinusoidal waveforms with adjustable amplitudes and frequencies over a wide range, as well as several arbitrary waveforms. The setup is based on a DSP-based pulsewidth modulation (PWM) inverter. To guarantee good response and robustness of the system, a robust model reference adaptive controller is used. The performance of the proposed control strategy is demonstrated by experimental results under several load conditions.
{"title":"Adaptive robust DSP-based single phase AC power source","authors":"E.G. Carati, H. Pinheiro, J. R. Pinheiro, H. Hey, H. Grundling","doi":"10.1109/CCA.2001.973832","DOIUrl":"https://doi.org/10.1109/CCA.2001.973832","url":null,"abstract":"Presents an adaptive robust DSP-based single phase AC power source, which is able to generate sinusoidal waveforms with adjustable amplitudes and frequencies over a wide range, as well as several arbitrary waveforms. The setup is based on a DSP-based pulsewidth modulation (PWM) inverter. To guarantee good response and robustness of the system, a robust model reference adaptive controller is used. The performance of the proposed control strategy is demonstrated by experimental results under several load conditions.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121065071","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The problem of partial stabilization is considered for autonomous affine control systems. A theorem on sufficient condition for partial stability is proved, provided that the open-loop system admits Lyapunov function with nonpositive derivative. The theorem proposed is applied for solving a problem of single-axis stabilization of a satellite. The explicit expression of stabilizing feedback law is given.
{"title":"Application of control Lyapunov functions technique for partial stabilization","authors":"A. Zuyev","doi":"10.1109/CCA.2001.973917","DOIUrl":"https://doi.org/10.1109/CCA.2001.973917","url":null,"abstract":"The problem of partial stabilization is considered for autonomous affine control systems. A theorem on sufficient condition for partial stability is proved, provided that the open-loop system admits Lyapunov function with nonpositive derivative. The theorem proposed is applied for solving a problem of single-axis stabilization of a satellite. The explicit expression of stabilizing feedback law is given.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121336759","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We propose a new 3-D visual servoing method. By using Lyapunov theorem, we conclude that this 3-D visual servoing approach is stable with some uncertainties. The experimental comparison of 3-D vision is realized by a manipulator A465 and a pair of Pulnix TM-72EX CCD analog cameras. The 3D algorithm has been checked experimentally.
{"title":"Stable 3-D visual servoing: an experimental comparison","authors":"M. A. Moreno, Wen Yu, A. Poznyak","doi":"10.1109/CCA.2001.973867","DOIUrl":"https://doi.org/10.1109/CCA.2001.973867","url":null,"abstract":"We propose a new 3-D visual servoing method. By using Lyapunov theorem, we conclude that this 3-D visual servoing approach is stable with some uncertainties. The experimental comparison of 3-D vision is realized by a manipulator A465 and a pair of Pulnix TM-72EX CCD analog cameras. The 3D algorithm has been checked experimentally.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122958666","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Hamlet is a hexapod walker constructed at the University of Canterbury, New Zealand, to test the effectiveness of combined force and position control to achieve robust, adaptable walking over rough and unknown environments. In particular the authors propose that compliance behaviours using the horizontal force measured at the feet will allow the robot to navigate slippery and dynamic surfaces such as gravel and rocks that move under contact with the feet. A soft, biologically motivated, gait generator will be employed for maximum capability. The robot and its systems are described, and the position-based compliance control strategy used is elaborated on.
{"title":"Hamlet: force/position controlled hexapod walker - design and systems","authors":"M. R. Fielding, R. Dunlop, C. Damaren","doi":"10.1109/CCA.2001.973998","DOIUrl":"https://doi.org/10.1109/CCA.2001.973998","url":null,"abstract":"Hamlet is a hexapod walker constructed at the University of Canterbury, New Zealand, to test the effectiveness of combined force and position control to achieve robust, adaptable walking over rough and unknown environments. In particular the authors propose that compliance behaviours using the horizontal force measured at the feet will allow the robot to navigate slippery and dynamic surfaces such as gravel and rocks that move under contact with the feet. A soft, biologically motivated, gait generator will be employed for maximum capability. The robot and its systems are described, and the position-based compliance control strategy used is elaborated on.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117132099","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A. Rojas-Moreno, F.S. Merchan-Gordillo, L.D. Gushiken-Gibu
This paper develops design procedures of proportional-integral servo systems (SSs) for controlling a double purpose nonlinear plant: an inverted pendulum (IP) and crane. Such a plant can be described by nonlinear differential equations, where the nonlinear terms complicate the analytical aspects of modeling and controller design. However, based on the linearized plant model, one can configure discrete-time SSs by combining linear controllers with linear observers. Experimental results demonstrate that each SS is able to stabilize an IP (or a crane) mounted on a servomotor-driven cart. Three SSs configurations are developed: a steady-state quadratic optimal controller with a quadratic optimal state observer, a pole placement controller (PPC) with a full-order state observer, and a PPC with a minimum-order state observer.
{"title":"Implementation of servo systems for controlling a double purpose nonlinear plant: inverted pendulum and crane","authors":"A. Rojas-Moreno, F.S. Merchan-Gordillo, L.D. Gushiken-Gibu","doi":"10.1109/CCA.2001.973981","DOIUrl":"https://doi.org/10.1109/CCA.2001.973981","url":null,"abstract":"This paper develops design procedures of proportional-integral servo systems (SSs) for controlling a double purpose nonlinear plant: an inverted pendulum (IP) and crane. Such a plant can be described by nonlinear differential equations, where the nonlinear terms complicate the analytical aspects of modeling and controller design. However, based on the linearized plant model, one can configure discrete-time SSs by combining linear controllers with linear observers. Experimental results demonstrate that each SS is able to stabilize an IP (or a crane) mounted on a servomotor-driven cart. Three SSs configurations are developed: a steady-state quadratic optimal controller with a quadratic optimal state observer, a pole placement controller (PPC) with a full-order state observer, and a PPC with a minimum-order state observer.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115212357","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper deals with an autonomous locomotion of a snakelike articulated robot with passive wheels. Using the non-slip condition of the wheels, the robot gains propulsion by means of constraint forces on the wheels caused by bending the joints. Our goal is to achieve the so-called serpentine movement known to be an effective gait on a flat ground with automatic gait generation, i.e., without giving any winding gait beforehand. We utilize a notion of manipulability to evaluate the locomotability and propose a controller capable of reducing the constraint forces. The results of simulations show that smooth winding motion is achieved.
{"title":"Control of a snake robot in consideration of constraint force","authors":"H. Date, M. Sampei, S. Nakaura","doi":"10.1109/CCA.2001.973995","DOIUrl":"https://doi.org/10.1109/CCA.2001.973995","url":null,"abstract":"This paper deals with an autonomous locomotion of a snakelike articulated robot with passive wheels. Using the non-slip condition of the wheels, the robot gains propulsion by means of constraint forces on the wheels caused by bending the joints. Our goal is to achieve the so-called serpentine movement known to be an effective gait on a flat ground with automatic gait generation, i.e., without giving any winding gait beforehand. We utilize a notion of manipulability to evaluate the locomotability and propose a controller capable of reducing the constraint forces. The results of simulations show that smooth winding motion is achieved.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115563300","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We deal with the problem of modeling production systems where inventory management is predominant with respect to other aspects of the production cycle. The model we use, called first-order hybrid Petri nets, is a hybrid model that combines fluid and discrete event dynamics and enables us to simulate the dynamic concurrent activities of inventory management systems (IMS). It also provides a modular representation of an IMS, thus making it useful even when dealing with large dimension systems. Finally, a real application case of a cheese factory is considered: all the numerical data are relative to an existing plant, and simulation is carried out with the available software SIRPHYCO.
{"title":"Modeling production systems with inventory using hybrid Petri nets","authors":"R. Furcas, A. Giua, Aldo Piccaluga, C. Seatzu","doi":"10.1109/CCA.2001.973904","DOIUrl":"https://doi.org/10.1109/CCA.2001.973904","url":null,"abstract":"We deal with the problem of modeling production systems where inventory management is predominant with respect to other aspects of the production cycle. The model we use, called first-order hybrid Petri nets, is a hybrid model that combines fluid and discrete event dynamics and enables us to simulate the dynamic concurrent activities of inventory management systems (IMS). It also provides a modular representation of an IMS, thus making it useful even when dealing with large dimension systems. Finally, a real application case of a cheese factory is considered: all the numerical data are relative to an existing plant, and simulation is carried out with the available software SIRPHYCO.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131147834","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Y. Fang, E. Zergeroglu, Warren E. Dixon, Darren M. Dawson
We consider the regulation control problem for a two-degree-of-freedom (2-DOF), underactuated overhead crane system. Inspired by recently designed passivity-based controllers for underactuated systems, we design several controllers that asymptotically regulate the gantry position and payload position. Specifically, utilizing LaSalle's invariance set theorem, we first illustrate how a simple proportional-derivative (PD) controller can be utilized to asymptotically regulate the overhead crane system. Motivated by the desire to achieve improved transient performance, we then design a two nonlinear controllers that increase the coupling between the gantry position and payload position.
{"title":"Nonlinear coupling control laws for an overhead crane system","authors":"Y. Fang, E. Zergeroglu, Warren E. Dixon, Darren M. Dawson","doi":"10.1109/CCA.2001.973939","DOIUrl":"https://doi.org/10.1109/CCA.2001.973939","url":null,"abstract":"We consider the regulation control problem for a two-degree-of-freedom (2-DOF), underactuated overhead crane system. Inspired by recently designed passivity-based controllers for underactuated systems, we design several controllers that asymptotically regulate the gantry position and payload position. Specifically, utilizing LaSalle's invariance set theorem, we first illustrate how a simple proportional-derivative (PD) controller can be utilized to asymptotically regulate the overhead crane system. Motivated by the desire to achieve improved transient performance, we then design a two nonlinear controllers that increase the coupling between the gantry position and payload position.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116947044","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A method for the development of models for components of mechatronics systems has been devised, which allows their reusability. As an application of this modeling approach, a library with some commonly used mechatronics parts has been developed. Additionally, some applications of the developed tool are presented.
{"title":"A mechatronics library for SIMULINK","authors":"M. C. Effen","doi":"10.1109/CCA.2001.973849","DOIUrl":"https://doi.org/10.1109/CCA.2001.973849","url":null,"abstract":"A method for the development of models for components of mechatronics systems has been devised, which allows their reusability. As an application of this modeling approach, a library with some commonly used mechatronics parts has been developed. Additionally, some applications of the developed tool are presented.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114221821","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, a novel parameter tuning strategy for a class of controllers is discussed. The mathematical background of the algorithm is based on variable structure systems theory, which is well known with its robustness to systems having uncertainties and imprecision in the representative model. Since the course of modeling is concerned primarily with the dominant behavior, the nonlinearities existing in the system dynamics, external disturbances and plant-model mismatches require the control engineers to design controllers, which adapt the design parameters to alleviate the stated difficulties. The method introduced in this study is applicable to controller structures, whose outputs are linear in the adjustable parameters. In order to demonstrate the performance of the proposed technique, control of a cement milling circuit is studied with time-varying set values, time-varying plant parameters and a considerable amount of observation noise.
{"title":"A nonlinear learning control approach for a cement milling process","authors":"O. Dagci, M. Efe, O. Kaynak","doi":"10.1109/CCA.2001.973915","DOIUrl":"https://doi.org/10.1109/CCA.2001.973915","url":null,"abstract":"In this paper, a novel parameter tuning strategy for a class of controllers is discussed. The mathematical background of the algorithm is based on variable structure systems theory, which is well known with its robustness to systems having uncertainties and imprecision in the representative model. Since the course of modeling is concerned primarily with the dominant behavior, the nonlinearities existing in the system dynamics, external disturbances and plant-model mismatches require the control engineers to design controllers, which adapt the design parameters to alleviate the stated difficulties. The method introduced in this study is applicable to controller structures, whose outputs are linear in the adjustable parameters. In order to demonstrate the performance of the proposed technique, control of a cement milling circuit is studied with time-varying set values, time-varying plant parameters and a considerable amount of observation noise.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115910512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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